#include <path_line.hpp>
Public Member Functions | |
| Path_Line (const Frame &F_base_start, const Frame &F_base_end, RotationalInterpolation *orient, double eqradius, bool _aggregate=true) | |
| Path_Line (const Frame &F_base_start, const Twist &twist_in_base, RotationalInterpolation *orient, double eqradius, bool _aggregate=true) | |
| double | LengthToS (double length) |
| virtual double | PathLength () |
| virtual Frame | Pos (double s) const |
| virtual Twist | Vel (double s, double sd) const |
| virtual Twist | Acc (double s, double sd, double sdd) const |
| virtual void | Write (std::ostream &os) |
| virtual Path * | Clone () |
| virtual IdentifierType | getIdentifier () const |
| virtual | ~Path_Line () |
| Public Member Functions inherited from KDL::Path | |
| virtual | ~Path () |
Additional Inherited Members | |
| Public Types inherited from KDL::Path | |
| enum | IdentifierType { ID_LINE =1 , ID_CIRCLE =2 , ID_COMPOSITE =3 , ID_ROUNDED_COMPOSITE =4 , ID_POINT =5 , ID_CYCLIC_CLOSED =6 } |
| Static Public Member Functions inherited from KDL::Path | |
| static Path * | Read (std::istream &is) |
Detailed Description
A path representing a line from A to B.
Constructor & Destructor Documentation
◆ Path_Line() [1/2]
| KDL::Path_Line::Path_Line | ( | const Frame & | F_base_start, |
| const Frame & | F_base_end, | ||
| RotationalInterpolation * | orient, | ||
| double | eqradius, | ||
| bool | _aggregate = true ) |
Constructs a Line Path F_base_start and F_base_end give the begin and end frame wrt the base orient gives the method of rotation interpolation eqradius : equivalent radius : serves to compare rotations and translations. the "amount of motion"(pos,vel,acc) of the rotation is taken to be the amount motion of a point at distance eqradius from the rotation axis.
Eqradius is introduced because it is unavoidable that you have to compare rotations and translations : e.g. : You can have motions that only contain rotation, and motions that only contain translations. The motion planning goes as follows :
- translation is planned with the given parameters
- rotation is planned planned with the parameters calculated with eqradius.
- The longest of the previous two remains unchanged, the shortest in duration is scaled to take as long as the longest. This guarantees that the geometric path in 6D space remains independent of the motion profile parameters.
RotationalInterpolation_SingleAxis() has the advantage that it is independent of the frame in which you express your path. Other implementations for RotationalInterpolations COULD be (not implemented) (yet) : 1) quaternion interpolation : but this is more difficult for the human to interpret 2) 3-axis interpolation : express the orientation of the frame in e.g. euler zyx angles alfa,beta, gamma and interpolate these parameters. But this is dependent of the frame you choose as a reference and their can occur representation singularities.
◆ Path_Line() [2/2]
| KDL::Path_Line::Path_Line | ( | const Frame & | F_base_start, |
| const Twist & | twist_in_base, | ||
| RotationalInterpolation * | orient, | ||
| double | eqradius, | ||
| bool | _aggregate = true ) |
◆ ~Path_Line()
|
virtual |
Member Function Documentation
◆ Acc()
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virtual |
Returns the acceleration twist at path length s and with derivative of s == sd, and 2nd derivative of s == sdd
Implements KDL::Path.
◆ Clone()
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virtual |
◆ getIdentifier()
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inlinevirtual |
◆ LengthToS()
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virtual |
LengthToS() converts a physical length along the trajectory to the parameter s used in Pos, Vel and Acc. This is used because in cases with large rotations the parameter s does NOT correspond to the lineair length along the trajectory. User should be sure that the lineair distance travelled by this path object is NOT zero, when using this method ! (e.g. the case of only rotational change) throws Error_MotionPlanning_Not_Applicable if used on composed path objects.
Implements KDL::Path.
◆ PathLength()
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virtual |
Returns the total path length of the trajectory (has dimension LENGTH) This is not always a physical length , ie when dealing with rotations that are dominant.
Implements KDL::Path.
◆ Pos()
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virtual |
◆ Vel()
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virtual |
Returns the velocity twist at path length s theta and with derivative of s == sd
Implements KDL::Path.
◆ Write()
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virtual |
Writes one of the derived objects to the stream
Implements KDL::Path.
The documentation for this class was generated from the following file:
- build/orocos_kdl_install/include/kdl/path_line.hpp
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1.16.1